Digital Image Processing

Lecture #20

Dr. Md. Hasanuzzaman

Professor
Department of Computer Science & Engineering
Dhaka University

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 Contents

Robotic Vision & Computer Vision

 Introduction to Robot
Categories of Robot
Examples of robots
Sensors
Robotic Perception
Localization & Tracking
Mapping & Planning to move
Applications of Robot

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 Robotic Vision
Robotic Vision: To perceive objects,
manipulate objects and move in the
environment
Computer Vision: to perceive objects

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 Introduction to Robot

 Robots: are physical agents that perform task by

manipulating the physical world.
 They are equipped with effectors (arms, wheels, legs,
etc.) and sensors (cameras, ultrasound measure the
environment, accelerometers, etc.)
 Robotic systems need to embody prior knowledge
about the robot, its physical environment, and the
tasks that the robot will perform so that the robot can
learn quickly and perform safely.
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 Introduction to Robot
(Categories of Robots)

Manipulators: Fixed in work place. Uses as

Industrial robots, surgical Assistant robots, etc.
Mobile robot: Move about their environment
using wheels, legs or similar mechanisms. Uses as
nursing robots, cleaning robots, etc.
Hybrid robot: Mobile robot equipped with
manipulators. Example Humanoid robots. It
includes artificial limbs, ears, and eyes for as like as
humans.

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 Examples of Robot

 Mobile robot
 Humanoid robot: Asimo, by honda, sony AI
BO

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 Examples of Robot

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 Sensors

 Sensors: Sensors are the perceptual interface robots

and their environments
 Active Sensors: send energy into the environment
and rely on the fact that this energy is reflected back
to the sensor.
 Passive Sensors: Are the true observers of the enviro
nment (Cameras)

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 Sensors

 Range Finders: Many mobile robots make use of range

finders, which are sensor that measure the distance to
nearby objects
 Sonar Sensor: Sonar sensors emit directional sound
waves, which are reflected by objects with some of the
sound making it back into the sensor. The time and
intensity of this returning signal thus carry information
about the distance of nearby objects.

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 Sensors
 Tactile Sensors: Close range sensors such as whiskers
, touch-sensitive screen.
 Imaging Sensor: the cameras that provide us with
images of the environment and using the computer
vision techniques detect features of the environment.
Stereo vision is particularly important in robotics.
 Proprioceptive sensors: Which inform the the robot of
its own state.
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 Robotic Perception
 Perception is the process by which robots map sensor
measurement into internal representations of the envi
ronment.
 Robot perception can be viewed as temporal inferenc
e from sequences of actions and measurements as illu
strated by this dynamic Bays network.

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 Robotic Perception
 Xt is the state of the environment (including robot) at
time t, Zt is the observation received at time t, At is
the action taken after the observation is received.

At-2 At-1 At

Xt-1 Xt Xt+1

Zt-1 Zt Zt+1

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 Localization & Tracking

 Localization is a generic example of robot perception.

It is the problem of determining where things are.
 knowledge about where things are is at the core of an
y successful physical inter action of robot.
 Robot manipulators must know the location of object
s they manipulate
 If the initial pose of the object to be localized is know
n, localization is a tracking problem.

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 Mapping

 Localize of many objects is known as mappi

ng.
 Imagine a robot that is not given a map of it
s environment, rather it has to construct suc
h a map it self. This problem is known as m
apping in robotics.
 The robot mapping problem is often referre
d to as simultaneous localization and mappi
ng (SLAM)
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 Planning to move
 The planning of robot motion is usually don
e in configuration space, where each point s
pecifies the location and orientation of the r
obot and its join angles
 The point to point motion problem is to deli
ver the robot or its end-effector to a designa
ted target location.

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 Robot Applications

 Industry & Agriculture

 Transportation
 Hazardous environment
 Exploration
 Health Care
 Personal Service
 Cleaning
 Entertainment
 Human Augmentation

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 List of Reference Books

 Stuart Russell, Peter Norvig, “Artificial Int

elligence, A modern Approach”
 Dana H. Ballard, “Computer Vision”

 David H. Hubel, “Eye, Brain, and Vision”

 Dwayne Phillips, “Image Processing in C”

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